gtsam::PreintegrationParams Struct Reference

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor.

Inheritance diagram for gtsam::PreintegrationParams:

Public Member Functions
	PreintegrationParams ()
	Default constructor for serialization only; fresh params use Logmap.
	PreintegrationParams (const Vector3 &n_gravity_)
	The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below.
void	print (const std::string &s="") const override
bool	equals (const PreintegratedRotationParams &other, double tol) const override
void	setAccelerometerCovariance (const Matrix3 &cov)
void	setIntegrationCovariance (const Matrix3 &cov)
const Matrix3 &	getAccelerometerCovariance () const
const Matrix3 &	getIntegrationCovariance () const
const Vector3 &	getGravity () const
void	setImuFactorErrorMode (ImuFactorErrorMode mode)
	Select the nonlinear error chart used by IMU factors.
ImuFactorErrorMode	getImuFactorErrorMode () const
	Return the nonlinear error chart used by IMU factors.
Public Member Functions inherited from gtsam::PreintegratedRotationParams
	PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis={}, std::optional< Pose3 > body_P_sensor={})
void	setGyroscopeCovariance (const Matrix3 &cov)
void	setOmegaCoriolis (const Vector3 &omega)
void	setBodyPSensor (const Pose3 &pose)
const Matrix3 &	getGyroscopeCovariance () const
std::optional< Vector3 >	getOmegaCoriolis () const
std::optional< Pose3 >	getBodyPSensor () const

Static Public Member Functions
static std::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)
static std::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	accelerometerCovariance
	Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz.
Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty
Vector3	n_gravity
	Gravity vector in nav frame.
Public Attributes inherited from gtsam::PreintegratedRotationParams
Matrix3	gyroscopeCovariance
	Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz.
std::optional< Vector3 >	omegaCoriolis
	Navigation-frame angular velocity in radians per second.
std::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Protected Attributes
bool	use2ndOrderCoriolis
	Retained only for source and archive compatibility.

Friends
class	PreintegrationBase

Member Function Documentation

equals()

bool gtsam::PreintegrationParams::equals ( const PreintegratedRotationParams & other, double tol ) const

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

print()

void gtsam::PreintegrationParams::print ( const std::string & s = "" ) const

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

setImuFactorErrorMode()

void gtsam::PreintegrationParams::setImuFactorErrorMode ( ImuFactorErrorMode mode )

inline

Select the nonlinear error chart used by IMU factors.

Fresh parameters default to Logmap. Legacy restores the historical backend-dependent choice: component-wise for Manifold/Tangent and Logmap for Lie-group/Galilean preintegration.

Member Data Documentation

use2ndOrderCoriolis

bool gtsam::PreintegrationParams::use2ndOrderCoriolis

protected

Retained only for source and archive compatibility.

Exact rotating-Earth dynamics are used whenever omegaCoriolis is set, regardless of this flag.

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The documentation for this struct was generated from the following files:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/PreintegrationParams.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/PreintegrationParams.cpp